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<h1>tr2rt</h1><p><span class="helptopic">Convert homogeneous transform to rotation and translation</span></p><p>
[<strong>R</strong>,<strong>t</strong>] = <span style="color:red">tr2rt</span>(<strong>TR</strong>) split a homogeneous transformation matrix (NxN) into an
orthonormal rotation matrix <strong>R</strong> (MxM) and a translation vector <strong>t</strong> (Mx1), where
N=M+1.

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<p>
A homogeneous transform sequence <strong>TR</strong> (NxNxK) is split into rotation matrix
sequence <strong>R</strong> (MxMxK) and a translation sequence <strong>t</strong> (KxM).

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<h2>Notes</h2>
<ul>
  <li>Works for TR in SE(2) or SE(3)</li>
<ul>
  <li>If TR is 4x4, then R is 3x3 and T is 3x1.</li>
  <li>If TR is 3x3, then R is 2x2 and T is 2x1.</li>
</ul>
  <li>The validity of R is not checked.</li>
</ul>
<h2>See also</h2>
<p>
<a href="matlab:doc rt2tr">rt2tr</a>, <a href="matlab:doc r2t">r2t</a>, <a href="matlab:doc t2r">t2r</a></p>
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